JP2007219967A - Person-recognizing system for moving object - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a person-recognizing system for moving objects which enables a driver of an moving object to recognize a person, who is at a place which the driver can not recognize by sight, and improves safety to persons. <P>SOLUTION: The person-recognizing system for moving objects comprises a portable position transmission device 1, which a person carries with him (or her), and a person-recognizing device 2 for moving objects which is arranged in a moving object. The portable position transmission device 1 is provided with; a positional information acquisition device 11 which acquires positional information; and a transmission device 12 which transmits the positional information. The person-recognizing device 2 for moving objects is provided with; a positional information acquisition device 21 which acquires positional information; a reception machine 23 which receives the positional information transmitted by a transmission device 12; a distance-computing part 24 which computes a relative distance between a person and a moving object; a distance-monitoring part 25 which monitors the computed relative distance; an alarming device 26 which raises an alarm when the relative distance becomes a threshold value or less; a speed-reducing device 27 which reduces a speed of the moving object; and a stopping device 28 which stops the moving object. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to an interpersonal recognition system for a moving body that recognizes a person in a place where the driver of the moving body cannot recognize it by his / her own visual observation.

  A technique related to a conventional personal recognition system for a mobile object that assists the driver of the mobile object with visual recognition will be described below.

  As a first conventional technique, there is a technique for recognizing a person or other moving body by computer processing an image photographed by a camera attached in front of the moving body and alerting the driver (for example, Patent Documents). 1).

As a second conventional technique, there is one that automatically detects a person who is about to cross an intersection or a pedestrian crossing and actively calls attention. In other words, a road management control station that requires a predetermined area along the road, such as near a pedestrian crossing, and a data carrier carried by a person are provided with transmission / reception means for transmitting and receiving data by electromagnetic induction coupling, respectively, and road management control Transmits radio waves from the station toward the monitoring area. When there is a data carrier in the monitoring required area, the drive power is supplied to the data carrier by electromagnetic inductive coupling, and predetermined ID data is transmitted from the data carrier to the road management control station. The road management control station activates predetermined notification means and issues a warning to the person carrying the data carrier (see, for example, Patent Document 2).
Japanese Patent Laying-Open No. 2005-196276 (FIG. 1) JP 2000-357285 A (FIG. 1)

  However, since the first prior art performs recognition based on an image taken by a camera attached in front of a moving body, it cannot recognize a person or the like who is hidden behind an obstacle. As a result, there is a problem in that the safety of a person who cannot be recognized is significantly impaired.

  In addition, since the second conventional technique limits the application range to a pedestrian crossing and the vicinity of an intersection, human recognition cannot be performed in other areas. As a result, there is a problem that human safety is impaired.

  Thus, since the area | region which can be recognized with the prior art is limited, there existed a problem that human safety was impaired.

  The present invention has been made in view of such problems, and provides a human interpersonal recognition system that can be recognized even by a person located in a blind spot such as an obstacle and can improve human safety. The purpose is to do. It is another object of the present invention to provide an interpersonal recognition system for a moving body that can be recognized without being limited to a specific place such as a pedestrian crossing or an intersection, and that can improve human safety.

According to a first aspect of the present invention, there is provided a mobile interpersonal recognition system for recognizing a person in a place where a driver of the mobile body cannot recognize it by his / her own visual observation, and the portable position transmitting device carried by the person and the mobile body Comprising a mobile person recognition device provided in the portable position transmitter,
A first position information acquisition device that acquires other position information that is the position information of the person carrying the device every predetermined time; and a transmission device that transmits the acquired other position information and an ID. The personal recognition device for personal use includes a receiver that receives the other position information transmitted by the transmission device, and the position information of the mobile body when the other position information is received or every predetermined time set in advance. A second position information acquisition device that acquires position information; a distance calculation unit that calculates a relative distance between the person and the moving body based on the own position information and the other position information; and monitors the calculated relative distance. It is characterized by comprising a distance monitoring unit and a sounding device that sounds a sound when the relative distance falls below a preset threshold value.

  According to a second aspect of the present invention, in the mobile person recognition system according to the first aspect, the mobile person recognition device includes an external input unit for inputting the threshold value.

  According to a third aspect of the present invention, in the personal recognition system for a moving body according to the second aspect, the external input unit includes a keyboard for input and a display for outputting input values.

  According to a fourth aspect of the present invention, in the interpersonal recognition system for a moving body according to the first aspect, the alarm device has a short distance threshold and a long distance threshold as the threshold for the relative distance between the person and the moving body. If the relative distance is less than the far distance threshold and greater than or equal to the near distance threshold, an audible alarm is sounded with an intermittent sound, and if the relative distance is less than the near distance threshold, an alarm is sounded with a continuous sound. It is characterized by a ringing alarm.

  According to a fifth aspect of the present invention, there is provided the mobile object recognition system according to the fourth aspect, wherein the mobile object recognition device includes a decelerating device that decelerates the moving object, and a stop that stops the moving object. And the alarm device, if the relative distance is less than the long distance threshold and greater than or equal to the short distance threshold, decelerates the moving body using the speed reducer, and the relative distance is the short distance. If it is less than the threshold value, the moving body is stopped using the stopping device.

  According to a sixth aspect of the present invention, in the mobile object recognition system according to the first aspect, the first and second position information acquisition devices include a GPS receiving antenna, and acquire position information by GPS. It is characterized by that.

  Further, the invention according to claim 7 is the interpersonal recognition system for mobile body according to claim 1, wherein the portable position transmitting device obtains the time when the other position information is acquired by radio waves. And a transmitting device of the portable position transmitting device that transmits the other position information acquisition time acquired by the first radio timepiece when transmitting the acquired other position information and the ID. The mobile person recognition device includes a second radio timepiece that acquires the time when the self position information is acquired by radio waves, and the self position information acquisition time acquired by the self position information and the second radio timepiece. A self-location database for recording the location information, and the distance calculation unit acquires the self-location information at the same time as the other location information acquisition time of the other location information based on the self-location database, and The movement It is characterized by calculating the relative distance between.

  The invention according to claim 8 is the personal recognition system for mobile body according to claim 7, wherein the personal recognition apparatus for mobile body includes the other position information transmitted from the portable position transmitting device and the Other position information acquisition time and another position database that records the calculated relative distance for each ID, a speed calculation unit that calculates a moving speed of a person carrying the portable position transmission device based on the other position database, A direction calculating unit that calculates a moving direction of a person carrying the portable position transmitting device based on the other position database, and the portable position transmitting device after a predetermined time based on the calculated moving speed and moving direction. And an other moving body movement prediction unit that predicts the position of a person and predicts the relative distance after the predetermined time.

  According to the first aspect of the present invention, the relative distance between the person and the moving body is calculated based on the information of the position information acquisition device provided in the person and the moving body, the calculated relative distance is monitored, and the relative distance is set in advance. Because the alarm sounds when the threshold is below the threshold, it is not limited to specific places such as pedestrian crossings and intersections, and even people in blind spots such as obstacles can be recognized, improving human safety. Can do.

  In addition, according to the invention described in claim 2, since the external input unit is provided, the threshold for the relative distance between the person and the moving object can be changed, and an appropriate threshold value can be input according to the speed of the moving object and the situation. This can improve the safety of people.

  According to the third aspect of the present invention, the external input unit includes an input keyboard and a display for outputting input values. Therefore, it is possible to easily set a threshold value for the relative distance between a person and a moving object. Since it can be confirmed, it is possible to set a threshold value without fail, and to improve human safety.

  Further, according to the invention described in claim 4, in addition to the effect of the invention described in claim 1, the threshold for the relative distance between the person and the moving object has two thresholds, a short distance threshold and a long distance threshold. If it is less than the distance threshold and greater than or equal to the short distance threshold, a warning alert is sounded with an intermittent sound, and if it is less than the near distance threshold, a warning sound is sounded with a continuous sound, which can further enhance human safety. .

  According to the invention described in claim 5, in addition to the effect of the invention described in claim 4, if the relative distance is less than the far distance threshold and greater than or equal to the near distance threshold, the moving body is decelerated and the relative distance is reduced. If the distance is less than the distance threshold, the moving object is stopped, so that human safety can be further improved.

  Moreover, since the invention according to claim 6 is provided with a GPS receiving antenna and acquires position information by GPS, more accurate position information can be acquired, and the accuracy of the relative distance between the person and the moving body is also increased. Therefore, human safety can be improved.

  According to the invention described in claim 7, in addition to the effect of the invention described in claim 1, by acquiring the time when the position information is acquired together with the position information with the radio timepiece, the time difference due to wireless communication is eliminated, and more It is possible to calculate an accurate relative distance, which can further enhance human safety.

  Further, according to the invention described in claim 8, in addition to the effect of the invention described in claim 7, a person who has a high movement speed and may not be recognized in an area within the long distance threshold and above the short distance threshold in advance. It is possible to make predictions and call attention, and further improve human safety.

  Hereinafter, specific examples of the present invention will be described with reference to the drawings.

  First, an example of a simple mobile person recognition system used in a limited area such as a factory is shown below.

FIG. 1 is a configuration diagram of a mobile interpersonal recognition system according to a first embodiment of the present invention. FIG. 1A is a configuration diagram of a portable position transmission device carried by a person, and FIG. It is a block diagram of the obtained personal recognition apparatus for moving bodies.
In FIG. 1, 1 is a portable position transmission device, 2 is a mobile person recognition device, 11 and 21 are location information acquisition devices, 12 is a transmission device, 23 is a receiver, 24 is a distance calculation unit, and 25 is distance monitoring. , 26 is a warning device, 27 is a speed reducer, 28 is a stop device, and 29 is an external input unit.
The features of this embodiment are as follows.
In other words, the mobile person recognition system of the present embodiment includes a portable position transmission device 1 carried by a person and a mobile person recognition device 2 provided on the mobile body. A first position information acquisition device 11 that acquires the position information (hereinafter referred to as other position information) of the person who is doing every predetermined time, and a transmission device 12 that transmits the acquired other position information and ID, The mobile object recognition device 2 includes a receiver 23 that receives the other position information transmitted by the transmission device 12, and the position information (hereinafter referred to as the position information) of the moving object when the other position information is received or every predetermined time. A second position information acquisition device 21 that acquires the position information), a distance calculation unit 24 that calculates the relative distance between the person and the moving body based on the position information and the other position information, and the calculated relative distance. The distance monitoring unit 25 to monitor and the relative distance is And 警鳴 device 26 for 警鳴 becomes below because the set threshold, a point which is so provided with.

FIG. 2 is a process flow diagram of the portable position transmitting apparatus 1 in the mobile person recognition system according to the first embodiment.
Hereinafter, the operation of the portable position transmission apparatus 1 in the mobile person recognition system of the present embodiment will be described with reference to FIG.
First, in step ST10, the position information acquisition apparatus 11 of the portable position transmission apparatus 1 receives signals from a plurality of satellites in order to acquire position information (other position information) of the person carrying the portable position transmission apparatus 1. Then, absolute other position information is acquired. In order to acquire a three-dimensional position by GSP (Global Positioning System), signals are received from four or more satellites.
Next, in step ST11, the transmission device 12 of the portable position transmission device 1 transmits the other position information acquired by the position information acquisition device 11 to the receiver 23 of the mobile person recognition device 2 by wireless communication.
Then, after waiting for a predetermined time in step ST12, steps ST10 to ST12 are repeated.

FIG. 3 is a process flow diagram of the mobile object recognition device 2 in the mobile object recognition system of the first embodiment.
Hereinafter, the operation of the mobile person recognition device 2 in the mobile person recognition system of the present embodiment will be described with reference to FIG.
As an advance preparation, using an external input device 29 having an input keyboard (not shown) and a display (not shown) for outputting input values, the threshold used by the distance monitoring unit 25 is set to the speed of the moving object, Enter a value according to the environment in advance. As thresholds that can be input, there are a short distance range and a long distance range. Areas to be applied by the distance monitoring unit 25 include “in the short distance”, “over the short distance and within the long distance”, and “over the long distance” is there.
First, in step ST15, the other position information transmitted by the transmission device 12 of the portable position transmission device 1 in step ST11 described above is acquired.
After acquiring the other position information, next, in step ST16, the position information acquisition device 21 of the mobile object person recognition device 2 receives signals from a plurality of satellites in order to acquire the position information of the mobile object. Get self-location information.
Next, in step ST <b> 17, the distance calculation unit 24 of the mobile object recognition device 2 receives the other position information received by the receiver 23 and the own position information acquired by the position information acquisition device 21 of the mobile object recognition device 2. To calculate the relative distance between the position information acquisition devices 11 and 21.
In step ST18, using the relative distance between the position information acquisition devices 11 and 21 calculated by the distance calculation unit 24, the relative distance between the position information acquisition devices is “within a short distance” by the distance monitoring unit 25. Determine whether.
If the relative distance between the position information acquisition devices is “within short distance”, the distance monitoring unit 25 warns the driver of the moving body with a continuous sound using the alarm device 26 in step ST19, and in step ST20. Then, the moving body is stopped by the stop device 28. If the relative distance between the position information acquisition devices 11 and 12 is not within a short distance, in step ST21, it is determined whether or not the alarm device 26 is stopped by alarming a continuous sound, and the alarm is stopped by a continuous sound. If so, the continuous sound is stopped and the operation is restarted in step ST22. In step ST23, the distance monitoring unit 25 determines whether the relative distance between the position information acquisition devices is “less than a long distance”. If the distance is within the long distance, the alarm device 26 is used for the driver of the moving body in step ST24. In step ST25, the moving body is decelerated and slowed down by the speed reducer 27. On the other hand, if it is determined in step ST23 that the relative distance between the position information acquisition devices is greater than or equal to a long distance, it is determined in step ST26 whether the alarm is audible and decelerating or slowing down. If the vehicle is traveling slowly, the alarm is released and the normal operation is resumed in step ST27.
As described above, steps ST15 to ST27 are repeated every time the other position information is received.

  In the factory, there are many places where there are many large obstacles and blind spots. In addition, a large portion of the forward field of view may be obstructed, for example, when carrying luggage with a luggage vehicle. As described above, since there are many places in the factory where a person is not recognized by the driver of the moving body, the interpersonal recognition system for moving body according to the present embodiment is considered to exert a great effect as a recognition assisting device.

  Furthermore, the speed of the moving body is slower than that of an outdoor car in a factory, and the moving body is decelerated or stopped regardless of the driver's intention as in the case of the human body recognition system according to this embodiment. Even so, the possibility of harming the driver is extremely low, and it is considered that the system is safe not only for the surrounding people but also for the driver.

  Next, an example of a multifunctional personal recognition system for a moving body used in an unlimited area such as outdoors will be described below.

FIG. 4 is a configuration diagram of a mobile person recognition system according to a second embodiment of the present invention. FIG. 4A is a configuration diagram of a portable position transmission device carried by a person, and FIG. It is a block diagram of the obtained personal recognition apparatus for moving bodies.
In FIG. 4, 13 and 30 are radio timepieces, 31 is a local position database, 32 is another position database, 33 is a speed calculation unit, 34 is a direction calculation unit, and 35 is an other moving body movement prediction unit. 4, the same reference numerals as those in FIG. 1 denote the same components as those in FIG. 1, and the description thereof is omitted.
The difference between the present embodiment and the first embodiment is as follows.
That is, the portable position transmitting device 1 carried by a person in the present embodiment further includes a radio clock 13, and the mobile interpersonal recognition device 2 provided in the mobile body includes a radio clock 30 that acquires time by radio waves, Own position database 31 that records own position information and own position information acquisition time, other position information transmitted from the portable position transmitting device 1, other position information acquisition time, other position database 32 that records ID, and other position database 32 A speed calculation unit 33 that calculates the movement speed of the person carrying the portable position transmission device 1 based on the above, a direction calculation unit 34 that calculates the movement direction of the person carrying the portable position transmission device 1 based on the other position database 32, Predicting the position of the person carrying the portable position transmitting device 1 after a predetermined time based on the calculated moving speed and moving direction, and predicting the relative distance of the other mobile object 35 is that it further comprise a.

FIG. 5 is a process flow diagram of the portable position transmitting apparatus 1 in the mobile person recognition system according to the second embodiment.
Hereinafter, the operation of the portable position transmitting apparatus 1 carried by a person in the interpersonal recognition system for a moving body according to the present embodiment will be described with reference to FIG.
First, in step ST30, the position information acquisition device 11 of the portable position transmission device 1 receives signals from a plurality of satellites in order to acquire the position information of the person carrying the portable position transmission device 1, and is absolute. Get other location information. In order to acquire a three-dimensional position by GSP, signals are received from four or more satellites. Next, the time when the other position information is acquired is acquired by the radio timepiece 13 in step ST31. Next, in step ST32, the transmission device 12 of the portable position transmission device 1 transmits the other position information and other position information acquisition time acquired by the position information acquisition device 11 and the ID of the mobile person recognition device 2 by wireless communication. Transmit to the receiver 23. In step ST33, after waiting for a predetermined time, steps ST30 to ST33 are repeated.

FIG. 6 is a flowchart of a process outline of the mobile person recognition device 2 in the mobile person recognition system according to the second embodiment.
Hereinafter, the processing outline of the mobile person recognition device 2 mounted on the mobile body in the mobile person recognition system of the present embodiment will be described with reference to FIG.
In step ST100, own position information and own position information acquisition time for each predetermined time are acquired. When the other position information, the other position information acquisition time, and the ID of the portable position transmission apparatus 1 are acquired from the portable position transmission device 1 in step ST200, the other position information and the other position information acquisition time are converted in step ST300. The relative distance is calculated from the own position information. Next, in step ST400, the relative distance is monitored. Next, in step ST500, the movement parameters, that is, the movement speed and movement direction of the person are calculated. Next, in step ST600, the movement of the person is predicted using the moving speed and the moving direction, and the predicted relative distance is calculated. Next, in step ST700, a warning, deceleration, and stop processing are performed based on the relative distance and the predicted relative distance.

Details of each process will be described below with reference to the drawings.
First, FIG. 7 is a process flow diagram of acquisition of own position information of the mobile person recognition device 2 in the mobile person recognition system of the second embodiment.
Hereinafter, the processing operation for acquiring the own position information of the mobile person recognition device 2 in the mobile person recognition system of the present embodiment will be described with reference to FIG.
First, in step ST40, the position information acquisition device 21 of the mobile object person recognition device 2 receives signals from a plurality of satellites in order to acquire the position information of the mobile object, and acquires absolute position information. Next, in step ST41, the own position information acquisition time which is the time when the own position is acquired by the radio timepiece 30 is acquired. Next, in step ST42, the own position information and the own position information acquisition time are recorded in the own position database 31. Then, after waiting for a predetermined time in step ST43, steps ST40 to ST43 are repeated.

FIG. 8 is a process flow diagram of the relative distance calculation of the mobile person recognition device 2 in the mobile person recognition system of the second embodiment.
Hereinafter, the operation of calculating the relative distance of the moving object person recognition device 2 in the system of the present embodiment will be described with reference to FIG.
First, in step ST50, the receiver 23 of the mobile person recognition apparatus 2 transmits the other position information, the other position information acquisition time, and the ID acquired by the position information acquisition apparatus 11 to the transmission apparatus of the portable position transmission apparatus 1. 12 through wireless communication. Next, in step ST51, data at the same time as the other position information acquisition time received by the receiver 23 is acquired from the own position database 31, and in step ST52, the distance calculation unit 24 uses the position information at the same time. The relative distance between the person and the moving object at the time is calculated. In step ST53, it is determined whether the relative distance is less than the monitoring distance threshold. If the relative distance is less than the monitoring distance threshold, the ID, other position information, other position information acquisition time, and calculation are stored in the other position database 32 in step ST54. Record the relative distance between the person and the moving object.
Then, after waiting for a predetermined time in step ST55, steps ST50 to ST55 are repeated. If the relative distance is not less than the monitoring distance threshold value in step ST53, the process of step ST55 is performed.
With the above processing, it is possible to eliminate a time difference due to wireless communication and calculate a more accurate relative distance.

FIG. 9 is a process flow diagram of monitoring of the mobile person recognition device 2 in the mobile person recognition system of the second embodiment.
Hereinafter, the operation of the monitoring process of the mobile person recognition apparatus 2 in the system of the present embodiment will be described with reference to FIG.
First, in step ST <b> 60, the distance monitoring unit 25 acquires ID data having the shortest relative distance in the other position database 32. In step ST61, it is determined from the acquired ID data having the shortest relative distance whether the relative distance is “within short distance”. If the relative distance is within the short distance, the mobile driver is alerted in step ST62. A warning is given with a continuous sound using the device 26, and the moving body is stopped by the stop device 28 in step ST63.
If the acquired ID data with the shortest relative distance is not within the short distance, in step ST64, it is determined whether the alarm device 26 is stopped by alarming a continuous sound. If there is, the continuous sound is stopped in step ST65 and the operation is resumed. In step ST66, it is determined from the acquired ID data having the shortest relative distance whether the relative distance is “within the long distance threshold”. A warning sound is generated using the alarm device 26, and the moving body is decelerated and slowed down by the reduction device 27. On the other hand, from the ID data with the shortest relative distance acquired in step ST66, if the relative distance is not within the “far distance threshold”, in step ST68, it is determined whether the intermittent sound is audible and the vehicle is decelerating or slowing down. If the alarm sound is intermittent and the vehicle is decelerating or slowing down, the alarm is canceled and the operation returns to normal operation in step ST69. Thereafter, steps ST60 to ST69 are repeated.

FIG. 10 is a process flow diagram of movement parameter calculation of the mobile person recognition device 2 in the mobile person recognition system of the second embodiment.
Hereinafter, the operation of the movement parameter calculation process of the mobile person recognition device 2 in the system of the present embodiment will be described with reference to FIG.
In step ST70, if data satisfying a preset prediction application time is recorded in the other position database 32, data of an arbitrary ID is acquired, and in step ST71, the speed calculation unit 33 and a plurality of other position information and others are acquired. The moving speed is calculated using the position information acquisition time.
In step ST72, the direction calculation unit 34 calculates a moving direction using a plurality of pieces of other position information.
In step ST73, the movement speed calculated by the speed calculation unit 33 based on the ID and the movement direction calculated by the direction calculation unit 34 are recorded in the other position database 32. Thereafter, steps ST70 to 73 are repeated.

FIG. 11 is a process flow diagram of prediction of the mobile object recognition device 2 in the mobile object recognition system of the second embodiment.
Hereinafter, the operation of the prediction process of the mobile person recognition device 2 in the system of the present embodiment will be described with reference to FIG.
First, in step ST80, if the relative distance from the other position database 32 is within the predetermined required distance threshold value and greater than or equal to the far distance threshold value, the moving speed and moving direction are acquired from the other position database 32 based on the ID. In step ST81, the position after the prediction application time is calculated by the other moving body position prediction unit 35, and in step ST82, the predicted relative distance between the position acquisition devices is calculated using the position.
In step ST83, the distance monitoring unit 25 determines whether the predicted relative distance calculated by the other moving body position predicting unit 35 is within a short distance. If the predicted relative distance is within the short distance, the driver of the moving body is determined in step ST84. The warning device 26 is used to warn with a continuous sound, and the moving body is stopped by the stop device 28 in step ST85.
In step ST86, the distance from the other position of the target ID is acquired or the encounter is confirmed by visual observation. In step ST87, it is confirmed whether the other position of the target ID has moved away. Resume.
Thereafter, steps ST80 to 88 are repeated. If the predicted relative distance is not within the short distance in step ST83, the process of step ST80 is performed.
With the above processing, it is possible to predict in advance and call attention to a person who may be unable to be recognized in a region where the moving speed is high and within the long distance threshold and equal to or higher than the short distance threshold.

  In this way, when used in unrestricted areas such as outdoors, there may be too many people, so we start to recognize people from a certain distance using a database, and actually process warnings, decelerations, stops, etc. Since it is limited to only those who are located at a short distance, unnecessary warnings, decelerations, stops, etc. can be avoided.

  In addition, by predicting the movement of a person using the moving speed and moving direction, for example, a person who moves on a bicycle or motorcycle at high speed is not recognized in an area within the long distance threshold and above the short distance threshold, and the stop is stopped. The situation of not being in time can be avoided.

  The present invention is suitable for application to a mobile object, particularly an in-vehicle personal recognition system.

BRIEF DESCRIPTION OF THE DRAWINGS It is a block diagram of the interpersonal recognition system for mobile bodies which shows 1st Example of this invention, (a) The block diagram of the portable position transmitter which a person carries, (b) The interpersonal for mobile bodies with which the mobile body was equipped. Configuration diagram of recognition device Processing flow diagram of portable position transmitting apparatus 1 in the mobile person recognition system of the first embodiment Process flow diagram of mobile person recognition device 2 in the mobile person recognition system of the first embodiment It is a block diagram of the interpersonal recognition system for mobile bodies which shows 2nd Example of this invention, (a) The block diagram of the portable position transmitter which a person carries, (b) The interpersonal for mobile bodies with which the mobile body was equipped Configuration diagram of recognition device Process Flow Diagram of Portable Position Transmitter 1 in the Mobile Person Recognition System of the Second Embodiment Flow chart of processing outline of mobile object recognition device 2 in the mobile object recognition system of the second embodiment. Process flow diagram of acquisition of own position information of the mobile person recognition device 2 in the mobile person recognition system of the second embodiment Processing flow diagram of relative distance calculation of the mobile object recognition device 2 in the mobile object recognition system of the second embodiment. Process flow diagram of monitoring of the mobile object recognition device 2 in the mobile object recognition system of the second embodiment Process flow diagram of movement parameter calculation of the person recognition apparatus 2 for a moving body in the person recognition system for a moving body according to the second embodiment Process flow diagram for prediction of the mobile object recognition device 2 in the mobile object recognition system of the second embodiment

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Portable position transmitter 2 Person recognition device 11 for mobile bodies Position information acquisition device 12 Transmitter 13, 30 Radio clock 23 Receiver 24 Distance calculation unit 25 Distance monitor 26 Alarm device 27 Deceleration device 28 Stop device 29 External Input unit 31 Own position database 32 Other position database 33 Speed calculation unit 34 Direction calculation unit 35 Other moving body movement prediction unit

Claims (8)

In the mobile person recognition system for recognizing a person in a place where the driver of the mobile object cannot be recognized by his own visual observation,
A portable position transmitter (1) carried by the person and a mobile person recognition device (2) provided in the mobile;
The portable position transmitting device (1)
A first position information acquisition device (11) for acquiring other position information, which is position information of the person carrying, every predetermined time;
A transmission device (12) for transmitting the acquired other position information and ID;
The mobile object recognition device (2) includes:
A receiver (23) for receiving the other position information transmitted by the transmitter (12);
A second position information acquisition device (21) for acquiring own position information, which is position information of the moving body, when receiving the other position information or at predetermined time intervals set in advance;
A distance calculation unit (24) for calculating a relative distance between the person and the moving body based on the own position information and the other position information;
A distance monitoring unit (25) for monitoring the calculated relative distance;
A sounding device (26) for sounding when the relative distance is less than or equal to a preset threshold;
A personal recognition system for mobile objects, characterized by comprising: The mobile object recognition device (2) includes:
The personal recognition system for a moving body according to claim 1, further comprising an external input unit (29) for inputting the threshold value.   The personal input recognition system for a moving body according to claim 2, wherein the external input unit (29) includes an input keyboard and a display for outputting an input value. The alarm device (26)
The threshold for the relative distance between the person and the moving body has two thresholds, a short distance threshold and a long distance threshold,
If the relative distance is less than the long distance threshold and greater than or equal to the short distance threshold, a warning beep with an intermittent sound,
The personal recognition system for a moving body according to claim 1, wherein if the relative distance is less than the short distance threshold, a warning sound is generated with a continuous sound. The mobile object recognition device (2) includes:
A speed reducer (27) for decelerating the moving body;
A stop device (28) for stopping the moving body,
The alarm device (26)
If the relative distance is less than the long distance threshold and greater than or equal to the short distance threshold, the moving body is decelerated using the reduction device (27),
5. The personal recognition system for a moving body according to claim 4, wherein if the relative distance is less than the short distance threshold, the moving body is stopped using the stop device (28). The first and second position information acquisition devices (11, 21)
The mobile person recognition system according to claim 1, further comprising a GPS receiving antenna and acquiring position information by GPS. The portable position transmitting device (1)
A first radio timepiece (13) that acquires the time when the other position information is acquired by radio waves;
The transmission device (12) of the portable position transmission device (1) is:
When transmitting the acquired other position information and the ID, the other position information acquisition time acquired by the first radio timepiece (13) is transmitted,
The mobile object recognition device (2) includes:
A second radio-controlled timepiece (30) that acquires the time at which the self-location information is acquired by radio waves;
A self-location database (31) for recording the self-location information and the self-location information acquisition time acquired by the second radio timepiece (30);
The distance calculation unit (24)
Acquiring the own position information at the same time as the other position information acquisition time of the other position information based on the own position database (31), and calculating a relative distance between the person and the moving body. The personal recognition system for moving bodies according to claim 1. The mobile object recognition device (2) includes:
Other position database (32) that records the other position information and the other position information acquisition time transmitted from the portable position transmitting device (1) and the calculated relative distance for each ID,
A speed calculation unit (33) for calculating a moving speed of a person carrying the portable position transmission device (1) based on the other position database (32);
A direction calculating unit (34) for calculating a moving direction of a person carrying the portable position transmitting device (1) based on the other position database (32);
Another mobile body movement prediction unit that predicts the position of a person carrying the portable position transmitting device (1) after a predetermined time based on the calculated moving speed and moving direction, and predicts the relative distance after the predetermined time (35), The personal recognition system for moving bodies of Claim 7 characterized by the above-mentioned.

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